WO2017061462A1 - アンテナ装置及び物標検出装置 - Google Patents

アンテナ装置及び物標検出装置 Download PDF

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Publication number
WO2017061462A1
WO2017061462A1 PCT/JP2016/079609 JP2016079609W WO2017061462A1 WO 2017061462 A1 WO2017061462 A1 WO 2017061462A1 JP 2016079609 W JP2016079609 W JP 2016079609W WO 2017061462 A1 WO2017061462 A1 WO 2017061462A1
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WIPO (PCT)
Prior art keywords
antenna
unit
group
unit antennas
groups
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Application number
PCT/JP2016/079609
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English (en)
French (fr)
Japanese (ja)
Inventor
一浩 青木
Original Assignee
株式会社デンソー
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Filing date
Publication date
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to US15/766,168 priority Critical patent/US11275145B2/en
Priority to DE112016004603.0T priority patent/DE112016004603T5/de
Priority to CN201680058551.0A priority patent/CN108140956B/zh
Publication of WO2017061462A1 publication Critical patent/WO2017061462A1/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/03—Details of HF subsystems specially adapted therefor, e.g. common to transmitter and receiver
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/32—Adaptation for use in or on road or rail vehicles
    • H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
    • H01Q1/3233—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used particular used as part of a sensor or in a security system, e.g. for automotive radar, navigation systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/20—Non-resonant leaky-waveguide or transmission-line antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/206—Microstrip transmission line antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q13/00—Waveguide horns or mouths; Slot antennas; Leaky-waveguide antennas; Equivalent structures causing radiation along the transmission path of a guided wave
    • H01Q13/08—Radiating ends of two-conductor microwave transmission lines, e.g. of coaxial lines, of microstrip lines
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/0006—Particular feeding systems

Definitions

  • the present disclosure relates to a target detection device that detects the orientation of a target, and an antenna device used in the target detection device.
  • Patent Document 1 describes an azimuth detecting device that detects a target in a wider angle range in the horizontal direction without increasing the area of the receiving antenna. Specifically, in the azimuth detecting device described in Patent Document 1, a plurality of antenna elements are arranged at the first interval d1. In this azimuth detecting device, the received signal from each antenna element is used to perform different signal processing when detecting a short distance area and when detecting a long distance area.
  • the arrangement interval of the receiving antennas may be narrowed.
  • the angular accuracy and the angular resolution (hereinafter collectively referred to as angular performance) are degraded.
  • the present disclosure has been made in view of the above problems, and an antenna device capable of suppressing erroneous detection of a target due to a grating ghost while maintaining good angular performance, and an object using the antenna device
  • An object is to provide a mark detection apparatus.
  • the antenna device is an antenna device for receiving radio waves.
  • This antenna device includes a plurality of antenna groups, and each antenna group (41 to 44, 51 to 53, 61 to 64, 71 to 74) has a plurality of unit antennas (5-1, 5 and 5) arranged in a certain direction. -2, 5-3), and the plurality of antenna groups are arranged at regular intervals in the fixed direction.
  • the plurality of unit antennas in the plurality of antenna groups are arranged in the predetermined direction at two or more different intervals as the whole antenna device.
  • the antenna devices configured in this way are arranged at equal intervals for a plurality of antenna groups. Therefore, for example, by using the antenna device according to the first aspect of the present disclosure as an antenna for receiving reflected waves in an apparatus that receives reflected waves of exploration waves and detects the orientation of a target based on the received signals, Based on the received signals for each of the plurality of antenna groups, it is possible to detect the azimuth of a relatively far target existing in a predetermined azimuth angle range.
  • the plurality of unit antennas included in the antenna device according to the first aspect of the present disclosure are not arranged at equal intervals as a whole, but are arranged at two or more different intervals. Therefore, by using this antenna device, based on the individual received signals from each of the plurality of unit antennas, at least for a target that is closer than the far distance, the angle is within an angle range wider than the azimuth angle range. While maintaining the performance, it is possible to obtain a direction detection result in which erroneous detection of a target due to the grating ghost is suppressed.
  • the target detection apparatus includes a transmission unit (2, 3) that transmits an exploration wave, and the exploration wave transmitted by the transmission unit is reflected by the target.
  • the receiving unit includes a plurality of antenna groups, and each antenna group (41 to 44, 51 to 53, 61 to 64, 71 to 74) has a plurality of unit antennas (5-1, 5-) arranged in a certain direction. 2 and 5-3), and the plurality of antenna groups are arranged at regular intervals in the constant direction, and the plurality of unit antennas are arranged at two or more different intervals as the whole antenna device. It is arranged in the direction.
  • the azimuth detecting unit has a first detection function and a second detection function.
  • the first detection function generates reception information based on a reception signal received by each unit antenna for each antenna group, and detects the direction of the target based on the reception information for each antenna group. It is a function to do.
  • the second detection function is configured such that one of the plurality of antenna groups or two or more adjacent to each other is set as a target group, and each unit antenna included in the target group is individually received by each unit antenna. This is a function for generating reception information based on a signal and detecting the direction of the target based on each reception information.
  • the above-described antenna device is used as the receiving unit. Therefore, an effect equivalent to that of the antenna device described above can be obtained.
  • symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.
  • an on-vehicle radar device 1 includes a transmitter 2, a transmission antenna 3, a reception antenna unit 4, a receiver 6, and an AD conversion unit. 8 and a signal processing unit 10.
  • the transmitter 2 transmits millimeter wave radar waves via the transmission antenna 3.
  • the radar wave transmitted from the transmitting antenna 3 is reflected by a target such as a preceding vehicle or a roadside object
  • the reflected radar wave signal (hereinafter referred to as a reflected wave signal) is received by the receiving antenna unit 4.
  • the in-vehicle radar device 1 is mounted in a vehicle so that a radar wave is transmitted from the transmitting antenna 3 to the front of the vehicle, for example.
  • the receiving antenna unit 4 has a plurality of unit antennas arranged in a line in a predetermined arrangement direction. A specific configuration of the receiving antenna unit 4 will be described in detail later with reference to FIG.
  • reception channels CH1 to CHN are set by a plurality of unit antennas as will be described later.
  • the number N of reception channels differs depending on the number of unit antennas constituting the reception antenna unit 4 and the configuration of an antenna group described later, but at least four channels are set.
  • the transmission channel has one channel in this embodiment, but this is only an example.
  • a plurality of transmission channels may be provided by providing a plurality of transmission antennas and transmitters.
  • the reception antenna unit 4 outputs reception signals Sr1 to SrN for each of the reception channels CH1 to CHN based on the received reflected wave signal.
  • the receiver 6 generates N beat signals B1 to BN corresponding to the reception signals Sr1 to SrN based on the reception signals Sr1 to SrN for the reception channels CH1 to CHN.
  • the AD converter 8 samples the beat signals B1 to BN generated by the receiver 6 and converts them into digital data (hereinafter referred to as beat signal data) D1 to DN. More specifically, the AD conversion unit 8 includes N AD converters 24-1 to 24-N corresponding to the N beat signals B1 to BN. Each AD converter 24-i converts the corresponding beat signal Bi generated by the receiver 6 into beat signal data Di.
  • the signal processing unit 10 executes various processes based on the beat signal data D1 to DN acquired via the AD converters 24-1 to 24-N.
  • the transmitter 2 includes a high frequency oscillator 12 and a distributor 14.
  • the high-frequency oscillator 12 generates a millimeter-wave band high-frequency signal that is modulated so that the frequency repeats a gradual increase and decrease or a gradual increase and decrease with respect to time. That is, the high-frequency signal generated by the high-frequency oscillator 12 is alternately generated in an upward section where the frequency gradually increases linearly and a downstream section where the frequency gradually decreases linearly, or one of them continuously occurs.
  • the distributor 14 distributes the power of the output of the high-frequency oscillator 12, that is, the generated high-frequency signal, to the transmission signal Ss and the local signal L.
  • the transmission signal Ss is supplied to the transmission antenna 3.
  • a radar wave is transmitted from the transmission antenna 3 based on the supplied transmission signal Ss.
  • the local signal L is supplied to the receiver 6.
  • the receiver 6 includes N mixers 21-1 to 21-N and N amplifiers 22-1 to 22-N.
  • the reception signal Sri of the channel CHi is input from the reception antenna unit 4 to the mixer 21-i.
  • the amplifier 22-i is connected to the mixer 21-i.
  • the mixer 21-i mixes the reception signal Sri of the corresponding reception channel CHi and the local signal L, and generates a beat signal Bi that is a frequency component of the difference between these signals.
  • the amplifier 22-i amplifies the beat signal Bi generated by the mixer 21-i.
  • the amplifier 22-i may have a filter function for removing unnecessary high frequency components from the beat signal Bi.
  • the beat signal Bi amplified by the amplifier 22-i is input to the AD converter 24-i.
  • a radar wave composed of a frequency-modulated continuous wave (for example, FMCW) is transmitted by the transmitter 2 via the transmission antenna 3. Then, the reflected wave signal in which the transmitted radar wave is reflected back to the target is received by each unit antenna in the receiving antenna unit 4.
  • FMCW frequency-modulated continuous wave
  • the reception signal Sri is mixed with the local signal L from the transmitter 2 by the mixer 21-i, and thus is a frequency component of the difference between the reception signal Sri and the local signal L.
  • a beat signal Bi is generated.
  • the beat signal Bi is amplified by the amplifier 22-i and unnecessary high frequency components are removed, and then repeatedly sampled by the AD converter 24-i to be converted into beat signal data Di.
  • the signal processing unit 10 is configured around a known microcomputer having a CPU 16 and a memory 17.
  • the memory 17 may have at least one of, for example, ROM, RAM, flash memory, and other various storage media.
  • the signal processing unit 10 includes an input port for inputting data from the AD conversion unit 8, a digital signal processor (DSP) for executing a fast Fourier transform (FFT) process, and the like.
  • DSP digital signal processor
  • the signal processing unit 10 may include one or more microcomputers. Further, some or all of the functions realized by the signal processing unit 10 executing the program of the memory 17 may be realized by using hardware combining a logic circuit, an analog circuit, and the like.
  • the signal processing unit 10 executes at least a target detection process based on the input beat signal data Di for each reception channel.
  • the target detection process is a process for obtaining the azimuth in which the target reflecting the radar wave exists, the distance to the target, the relative speed with the target (hereinafter collectively referred to as “target information”), and the like. It is.
  • the target detection process is performed by the CPU 16 reading a target detection process program stored in the memory 17 from the memory 17 and executing it.
  • the specific contents of the target detection process will be outlined later.
  • the signal processing unit 10 detects a target existing at a distant position in front of the vehicle, particularly in the front of the vehicle, within a limited azimuth range based on each beat signal data Di.
  • a narrow-angle detection function and a short-distance wide-angle detection function for detecting a target existing in a relatively close position in front of the vehicle within a relatively wide azimuth range.
  • Each of these detection functions is realized by executing a target detection process.
  • the target detection process includes a long-distance narrow-angle detection process for realizing a long-distance narrow-angle detection function and a short-distance wide-angle detection process for realizing a short-distance wide-angle detection function.
  • the azimuth angle in this embodiment means the azimuth angle in a horizontal plane.
  • the distance to the target that can be detected with high accuracy by the long-distance narrow-angle detection function is longer than the distance to the target that can be detected with high-precision by the short-range wide-angle detection function.
  • the azimuth angle range that can be detected with high accuracy by the short-range wide-angle detection function is wider than the azimuth range that can be detected with high precision by the long-range narrow-angle detection function.
  • the receiving antenna unit 4 includes four antenna groups 41, 42, 43, and 44. Specifically, the first antenna group 41, the second antenna group 42, the third antenna group 43, and the fourth antenna group 44 are arranged in a line at a predetermined group interval d0 in this order in the arrangement direction.
  • the arrangement direction is a direction substantially parallel to the horizontal plane, and the propagation direction is a direction substantially perpendicular to the horizontal plane.
  • the first antenna group 41 includes two unit antennas 5-1 and 5-2.
  • the first unit antenna 5-1 includes a feed line 30.
  • the feed line 30 is a linear transmission line formed so as to extend in the propagation direction which is a direction perpendicular to the arrangement direction.
  • first radiating elements 31 are connected to the left side which is the side opposite to the arrangement direction (left side in the figure) of the feeder line 30. These five first radiating elements 31 are arranged at regular intervals (for example, approximately the same length as the wavelength corresponding to the used frequency) along the propagation direction with respect to the left side of the feeder line 30.
  • five second radiating elements 32 are connected to the right side that is the side in the arrangement direction side (right side in the drawing) of the feeder line 30. These five second radiating elements 32 are arranged at regular intervals (for example, approximately the same length as the wavelength corresponding to the used frequency) along the propagation direction with respect to the right side of the feeder line 30.
  • five first radiating elements 31 connected to the left side of the feeder line 30 and five second radiating elements 32 connected to the right side of the feeder line 30 are arranged at exactly the same position on the propagation direction side. That is, the five first radiating elements 31 and the five second radiating elements 32 are in a line-symmetric positional relationship with the feeder line 30 as an axis.
  • the first unit antenna 5-1 In the first unit antenna 5-1, one first radiating element 31, and one second radiating element 32 arranged adjacent to the first radiating element 31 on the arrangement direction side with the feed line 30 interposed therebetween, The region existing between these two radiating elements 31 and 32 in the entire feeder line 30 is generally formed as one radiating element formed by integrating them (hereinafter referred to as “integrated radiating element”). Can be taken as). In other words, the first unit antenna 5-1 can be said to have a configuration in which five integrated radiating elements are connected in series by the feed line 30.
  • the end of the first unit antenna 5-1 on the opposite side (upper side in the figure) to the one side where power is fed (upper side in the figure) is terminated so that no signal reflection occurs at that end.
  • the first unit antenna 5-1 is configured as a traveling wave antenna.
  • the first unit antenna 5-1 of this embodiment is formed of a strip conductor on one surface of both surfaces of a dielectric substrate (not shown). A ground plate made of a conductor is formed on the other surface of the dielectric substrate. That is, the first unit antenna 5-1 is configured as a so-called microstrip array antenna in which a plurality of radiating elements are arranged in an array in the propagation direction.
  • the received signal is combined with the signal received by the second unit antenna 5-2. Then, the combined signal is output as the reception signal Sr1 of the reception channel CH1 and input to the receiver 6.
  • the second unit antenna 5-2 is disposed at a position separated from the first unit antenna 5-1 by a predetermined antenna interval d1 in the arrangement direction.
  • the configuration of the second unit antenna 5-2 is basically the same as that of the first unit antenna 5-1.
  • the first unit antenna 5-1 and the second unit antenna 5-2 are connected to each other at the feeding end 30a. As a result, as described above, signals received by both antennas are combined into one received signal Sr1. Is output as
  • the other three antenna groups 42, 43, and 44 other than the first antenna group 41 are exactly the same in that they include two unit antennas 5-1 and 5-2.
  • the arrangement intervals of the two unit antennas 5-1 and 5-2 in the antenna groups 41 to 44 are both the same antenna interval d1.
  • the feeding ends of the first unit antenna 5-1 and the second unit antenna 5-2 are not connected to each other.
  • the signals received by the unit antennas 5-1 and 5-2 are individually output as received signals Sri. That is, the signal received by the first unit antenna 5-1 is output as the reception signal Sr2 of the reception channel CH2, and the signal received by the second unit antenna 5-2 is output as the reception signal Sr3 of the reception channel CH3. .
  • the third antenna group 43 arranged next to the second antenna group 42 has the same configuration as the second antenna group 42.
  • the signal received by the first unit antenna 5-1 is output as the reception signal Sr4 of the reception channel CH4
  • the signal received by the second unit antenna 5-2 is the reception signal of the reception channel CH5. It is output as Sr5.
  • the fourth antenna group 44 arranged next to the third antenna group 43 has the same configuration as the first antenna group 41. That is, in the fourth antenna group 44, the signals received by the first unit antenna 5-1 and the second unit antenna 5-2 are combined with each other on the feeding end side, and one received signal Sr6 corresponding to the receiving channel CH6. Is output as
  • the unit antenna closest to the other antenna group among the plurality of unit antennas of the one antenna group and the other antenna An interval between unit antennas that are closest to one antenna group among a plurality of unit antennas included in the group is referred to as an adjacent group antenna interval.
  • the adjacent group antenna intervals between adjacent antenna groups are the same value, that is, the adjacent group antenna interval dx.
  • the adjacent group antenna interval dx is different from the antenna interval d1. That is, in the receiving antenna unit 4 of the present embodiment, a plurality (eight in the present embodiment) of unit antennas are alternately arranged at two different types of intervals, not at regular intervals.
  • the receiving antenna unit 4 of the present embodiment is configured as a linear array antenna in which a plurality of unit antennas are arranged in an array in the arrangement direction.
  • the signal processing unit 10 performs the above-described short-distance wide-angle detection based on the reception signals Sr1 to SrN of the reception channels CH1 to CHN (and thus based on the beat signal data D1 to DN). Processing and long-distance narrow-angle detection processing. And the signal processing part 10 synthesize
  • the short-range and wide-angle detection process is performed by receiving each received signal from the second antenna group 42 and the third antenna group 43, that is, output from four unit antennas alternately arranged at the antenna interval d1 and the adjacent group antenna interval dx. This is performed based on the reception signals Sr2 to Sr5 for the four channels CH2 to CH5. That is, the short-distance wide-angle detection process is performed based on a reception signal output from a single unit antenna whose feeding end is not connected to another unit antenna among the plurality of unit antennas.
  • the long-distance narrow-angle detection process is performed based on the reception signals Sr1 to SrN of all the reception channels CH1 to CHN.
  • beat signal data Di is synthesized for each antenna group, and long-distance target information is detected based on the synthesized data.
  • the reception signals of the respective unit antennas are already analog-combined at the time when they are input to the receiver 6, and one combined reception signal Sr1, Sr6 is input respectively. Therefore, the first beat signal data D1 and the fourth beat signal D4 are processed independently without being combined with other beat signal data.
  • the reception antenna unit 4 is regarded as one antenna group as a result of viewing from the signal processing unit 10. That is, in the long-distance narrow-angle detection processing, the receiving antenna unit 4 is equivalent to a linear linear array in which four linear antennas are arranged with a group interval d0 longer than the antenna interval d1 and the adjacent group antenna interval dx. Become.
  • the number of antenna groups is hereinafter referred to as group number G.
  • the number of unit antennas included in one antenna group is hereinafter referred to as an internal unit antenna number P.
  • the number of groups G is 4, and the number of internal unit antennas P is 2.
  • the number N of reception channels is six.
  • the number of reception channels N also varies depending on the number of groups G and the number of internal unit antennas P, and also varies depending on whether or not each unit antenna is connected on the feeding end side in the antenna groups at both ends.
  • Receiving antenna unit 4 in which at least one of group number G, number of internal unit antennas P, and whether or not a plurality of unit antennas in the same antenna group are connected on the feeding point side is different from the present embodiment. Several examples will be given later.
  • Target detection processing is specified in advance by the CPU 16 of the signal processing unit 10 after the on-vehicle radar device 1 is activated (in the present embodiment, for example, after the ignition switch of the vehicle is turned on). It is executed periodically at specified time intervals.
  • the signal processing unit 10 When the signal processing unit 10 starts the target detection process, first, the high-frequency oscillator 12 is controlled to transmit a radar wave from the transmission antenna 3. When the radar wave is transmitted, if a target is present in front of the vehicle, the radar wave is reflected by the target and the reflected wave signal is received by the receiving antenna unit 4. The reception signals Sr1 to SrN for the reception channels CH1 to CHN are output. The signal processing unit 10 operates the AD converters 24-1 to 24-N to acquire beat signal data D1 to DN.
  • the signal processing unit 10 performs frequency analysis (for example, FFT processing in the present embodiment) on the acquired beat signal data D1 to DN, so that each reception channel CH1 to CHN and the upstream / downstream section every time, the power spectrum (that is, the frequency spectrum) of each beat signal data D1 to DN is obtained.
  • frequency analysis for example, FFT processing in the present embodiment
  • the signal processing unit 10 generates a group spectrum that is a power spectrum of the antenna group for each antenna group arranged at the group interval d0. And a long-distance narrow-angle detection process is performed based on the group spectrum.
  • the long-distance narrow-angle detection process is specifically performed as follows. That is, the group spectrum for each antenna group is obtained by combining the power spectrum for each of the reception channels CH1 to CHN for each antenna group.
  • the long-distance narrow-angle detection process derives a group spectrum by vector-combining FFT results (specifically, each of the real part and imaginary part) of each beat signal data for each antenna group.
  • the received signals from the two unit antennas of the first antenna group 41 and the fourth antenna group 44 are analog-synthesized and output to the receiver 6 to be output to one receiver channel. Processed as a received signal. Therefore, the long-distance narrow-angle detection process is performed by the beat signal data D1 of the reception channel CH1 based on the reception signal Sr1 from the first antenna group 41 and the beat signal of the reception channel CH6 based on the reception signal Sr6 from the fourth antenna group 44. None of the data D6 is vector-combined with the FFT result of other beat signal data, and a group spectrum is derived independently.
  • the long-distance narrow-angle detection process derives a group spectrum corresponding to the second antenna group 42 by vector-combining the power spectra of the reception channels CH2 and CH3 corresponding to the reception signals Sr2 and Sr3.
  • the long-distance narrow-angle detection process performs vector synthesis of the power spectra of the reception channels CH4 and CH5 corresponding to the reception signals Sr4 and Sr5.
  • a group spectrum corresponding to the third antenna group 43 is derived.
  • the group spectrum is derived so as to be equivalent to the result of individually performing the FFT process on the received signals from the four unit antennas arranged at the group interval d0.
  • the signal processing unit 10 performs orientation analysis of the target using a well-known MUSIC (abbreviation of Mutiple Signal Classification) algorithm based on the group spectrum thus derived. Further, the signal processing unit 10 generates a distance to the target, a relative speed, and the like by a known method in the FMCW radar device. In this way, target information including the direction is generated.
  • MUSIC abbreviation of Mutiple Signal Classification
  • a group spectrum is derived for each antenna group arranged at a relatively large interval (interval greater than the interval between adjacent unit antennas), which is a group interval d0, and the target is derived. Information is generated.
  • the azimuth angle range that can be detected with high precision is the azimuth angle range that can be detected with high precision in the short-distance wide-angle detection process (hereinafter, short-range wide-angle Although it is narrower than the range, it is possible to accurately detect a target at a position far away in front of the host vehicle.
  • the signal processing unit 10 executes a short-distance wide-angle detection process. Specifically, the signal processing unit 10 extracts a power spectrum based on a received signal from a unit antenna whose feeding end is not connected to another unit antenna as the short-distance wide-angle detection process.
  • the second antenna group 42 and the third antenna group 43 are configured such that each of the unit antennas 5-1 and 5-2 outputs the reception signals Sr2, Sr3, Sr4, and Sr5 independently. .
  • the signal processing unit 10 extracts a power spectrum for each beat signal data D2 to D5 based on the reception signals Sr2 to Sr5 of the reception channels CH2 to CH5. And the signal processing part 10 detects the frequency peak which exists on the power spectrum for every extracted power spectrum (namely, it detects a target candidate).
  • Each power spectrum for each of the reception channels CH2 to CH5 is a result of the individual FFT processing of the reception signals Sr2 to Sr5 from the four unit antennas arranged at an interval narrower than the group interval d0.
  • the signal processing unit 10 performs azimuth analysis for estimating the azimuth in which the target candidate exists based on each power spectrum for each of the reception channels CH2 to CH5.
  • the signal processing unit 10 uses a well-known digital beam forming (so-called DBF) method for detecting the direction in which a target (target candidate) exists using the main lobe of the array antenna. To perform orientation analysis. Further, the signal processing unit 10 generates a distance to the target candidate, a relative speed, and the like by a known method in the FMCW radar device. In this way, the signal processing unit 10 generates target information (target candidate information) within the short-distance wide-angle range.
  • DBF digital beam forming
  • a group spectrum is derived for each of four unit antennas arranged at a relatively narrow interval (interval narrower than the group interval d0) such as the antenna interval d1 and the adjacent group antenna interval dx.
  • Target information is generated. Therefore, although the distance that can be detected accurately is shorter than the long-distance narrow-angle detection process, the position target is within a wide angle range in front of the host vehicle, that is, within a short-distance wide-angle range wider than the long-distance narrow-angle range. Can be detected with high accuracy.
  • the total four unit antennas of the second antenna group 42 and the third antenna group 43 are not arranged at equal intervals, but are arranged at two different types of intervals.
  • the interval between the unit antenna corresponding to the reception channel CH2 (hereinafter also referred to as CH2 unit antenna) 5-1 and the unit antenna corresponding to the reception channel CH3 (hereinafter also referred to as CH3 unit antenna) 5-2 is determined by the antenna The interval d1.
  • the interval between the unit antenna corresponding to the CH3 unit antenna and the reception channel CH4 (hereinafter also referred to as CH4 unit antenna) 5-1 is the adjacent group antenna interval dx, which is different from the antenna interval d1.
  • the interval between the unit antenna corresponding to the CH4 unit antenna and the reception channel CH5 (hereinafter also referred to as the CH5 unit antenna) 5-2 is the antenna interval d1.
  • the four unit antennas used for detecting the target in the short-range and wide-angle range are arranged at two different intervals, not at regular intervals. Therefore, it is possible to obtain a highly accurate target detection result in which the grating ghost is suppressed in the short-distance wide-angle detection process.
  • a grating ghost can be generated more than when arranged at regular intervals.
  • the principle of what can be suppressed will be outlined.
  • grating lobes with equal peak levels are repeatedly generated at a certain azimuth interval and an azimuth spectrum with respect to a true target during azimuth analysis. That is, it cannot be determined only by simple azimuth analysis which grating lobe azimuth has a true target. As a result, a phenomenon in which a target in an orientation that does not need to be detected appears in the detection area as a grating lobe is called a grating ghost.
  • the direction of the grating lobe is determined by the receiving antenna interval.
  • the reception antenna interval here is the number of combinations of two arbitrary channels when there are three or more reception channels. That is, for example, when there are four unit antennas, there are six reception antenna intervals.
  • all six reception antenna intervals are an integral multiple of the minimum antenna interval (ie, the interval between adjacent unit antennas).
  • a grating lobe is also generated in the azimuth in which the grating lobe is generated by the minimum antenna interval even by an integer multiple of the receiving antenna interval.
  • the four unit antennas are arranged at intervals of two or more (for example, two types of intervals dx and d1), there are many receiving antenna intervals that do not become an integral multiple of the minimum antenna interval d1.
  • the azimuth of each grating lobe is different, so that the peak level of the synthesized grating lobe is lower than that of the true target azimuth spectrum. That is, generation of grating ghost can be suppressed.
  • the long-range narrow-angle range and the short-range wide-angle range are preferably defined from the directivity gain of the antenna used for each azimuth analysis and the angular range in which the grating lobe does not occur.
  • the angle range is generally less than ⁇ arcsin ⁇ / (2 ⁇ dm) ⁇ with respect to the wavelength ⁇ of the radio wave and the minimum antenna interval dm.
  • the signal processing unit 10 superimposes the detection results of the respective detection processes after performing the long-distance narrow-angle detection process and the short-distance wide-angle detection process as described above. Specifically, in the present embodiment, the signal processing unit 10 narrows a long-distance narrow target from the targets detected by the short-distance wide-angle detection process, excluding targets that exist within the long-distance angle range. By adding to the target within the long-range angle range detected by the angle detection process, the detection results in both detection processes are superimposed.
  • the target information obtained through the processing so far is temporary target information, that is, target candidate information, which has not yet been determined. Therefore, the signal processing unit 10 further performs a known target specifying process to determine a target from among target candidates. That is, a probable target is identified from the target candidates.
  • the target detection process mentioned above is an example to the last.
  • the signal processing unit 10 determines the distance within the long-range angle range existing in front of the vehicle and the short range ahead of the vehicle based on the received signals Sr1 to SrN from the reception antenna unit 4.
  • Other signal processing methods capable of accurately detecting existing targets within the short-range angle range may be used.
  • the on-vehicle radar device 1 of the first embodiment includes a plurality of antenna groups 41 to 44 in which the receiving antenna unit 4 is arranged at equal intervals in the arrangement direction.
  • Each of the antenna groups 41 to 44 has the same configuration.
  • each of the antenna groups 41 to 44 has two unit antennas 5-1 and 5-2 having the same configuration.
  • the two unit antennas 5-1 and 5-2 are arranged at an antenna interval d1 in the arrangement direction.
  • the adjacent group antenna interval dx between two adjacent antenna groups is the same, and the adjacent group antenna interval dx is different from the antenna interval d1.
  • the interval between adjacent unit antennas is the antenna interval d1, the adjacent group antenna interval dx, the antenna interval d1, the adjacent group antenna interval dx, the antenna interval d1,.
  • the signal processing unit 10 detects the orientation of the target in the long-distance narrow-angle range using the FFT processing result synthesized for each antenna group. Since the antenna groups 41 to 44 are arranged at equal intervals, it is possible to detect the direction of a long-distance target while maintaining high angular performance.
  • the signal processing unit 10 receives each reception from the second antenna group 42 and the third antenna group 43 in which the unit antennas of the antenna groups 41 to 44 are not connected on the feeding end side. Signal processing based on the signals Sr2 to Sr5 is performed. Specifically, the signal processing unit 10 detects the azimuth of the target within the short-distance wide-angle range using the FFT processing result for each of the received signals Sr2 to Sr5.
  • the unit antennas included in the second antenna group 42 and the third antenna group 43 are alternately arranged at two different intervals (d1, dx) as a whole. Therefore, the signal processing unit 10 performs false detection due to the grating ghost while maintaining the angular performance of the azimuth of the target within the short-distance wide-angle range based on the FFT processing result for each of the received signals Sr2 to Sr5. It is possible to suppress and detect appropriately.
  • the in-vehicle radar device 1 corresponds to an example of a target detection device
  • the reception antenna unit 4 corresponds to an example of an antenna device and a reception unit.
  • the arrangement direction corresponds to a certain direction.
  • the transmitter 2 and the transmission antenna 3 correspond to an example of a transmission unit
  • the receiver 6, the AD conversion unit 8, and the signal processing unit 10 correspond to an example of an azimuth detection unit.
  • the long-distance narrow-angle range corresponds to the first azimuth angle range
  • the short-distance wide-angle range corresponds to the second azimuth angle range.
  • the long-distance narrow-angle detection function corresponds to an example of a first detection function
  • the short-distance wide-angle detection function corresponds to an example of a second detection function.
  • the FFT processing result by the signal processing unit 10 corresponds to an example of reception information.
  • the receiving antenna unit 50 of the second embodiment includes three antenna groups, a first antenna group 51, a second antenna group 52, and a third antenna group 53, as shown in FIG. These three antenna groups 51, 52, 53 are arranged in this order in a line at the group interval d0 in the arrangement direction.
  • the individual configurations of the antenna groups 51, 52, and 53 are all the same as the configuration of the second antenna group 42 in the reception antenna unit 4 of the first embodiment shown in FIG. Accordingly, in the three antenna groups 51 to 53, the adjacent group antenna interval between adjacent antenna groups is dx, as in the first embodiment.
  • the receiving antenna unit 50 of the second embodiment six unit antennas are alternately arranged at different intervals of the antenna interval d1 and the adjacent group antenna interval dx. Then, received signals are individually output from the unit antennas and input to the receiver 6.
  • the signal received by the first unit antenna 5-1 is output as the reception signal Sr1 of the reception channel CH1, and the signal received by the second unit antenna 5-2 is the reception channel CH2.
  • the received signal Sr2 is output.
  • the signal received by the first unit antenna 5-1 is output as the reception signal Sr3 of the reception channel CH3, and the signal received by the second unit antenna 5-2 is the reception channel CH4.
  • the received signal Sr4 is output.
  • the signal received by the first unit antenna 5-1 is output as the reception signal Sr5 of the reception channel CH5, and the signal received by the second unit antenna 5-2 is output by the reception channel CH6.
  • the received signal Sr6 is output.
  • the contents of the target detection process in the signal processing unit 10 are also partially different from those in the first embodiment. That is, in the long-distance narrow-angle detection process among the long-distance narrow-angle detection process and the short-distance demotion detection process executed in the target detection process of the second embodiment, the three antenna groups 51, 52, For each 53, the FFT processing result of the beat signal data Di is vector-synthesized to derive a group spectrum.
  • the FFT processing results of the beat signal data D1, D2 corresponding to the reception channels CH1, CH2 from the first antenna group 51 are vector-synthesized, One group spectrum is derived.
  • the FFT processing results of the beat signal data D3 and D4 corresponding to the reception channels CH3 and CH4 from the second antenna group 52 are similarly vector-synthesized for the second antenna group 52, One group spectrum is derived.
  • the FFT processing results of the beat signal data D5 and D6 corresponding to the reception channels CH5 and CH6 from the third antenna group 53 are similarly vector-synthesized for the third antenna group 53, One group spectrum is derived.
  • the signal processing unit 10 performs orientation analysis using a known MUSIC algorithm based on the group spectrum for each of the three antenna groups. Thereby, the long distance target in the long distance narrow angle range in front of the vehicle can be detected with high accuracy.
  • the short-distance wide-angle detection process is based on the reception signals Sr1 to Sr6 of all the reception channels CH1 to CH6.
  • a power spectrum is extracted for each beat signal data D1 to D6.
  • orientation analysis is executed using, for example, a well-known DBF method based on the extracted power spectrum.
  • the reception antenna unit 50 of the second embodiment described above and the in-vehicle radar device 1 using the reception antenna unit 50 can obtain the same effects as those of the first embodiment.
  • a specific configuration example of the receiving antenna unit constituting the in-vehicle radar device 1 is different from the receiving antenna unit 4 of the first embodiment shown in FIG. 2 and the receiving antenna unit 50 of the second embodiment shown in FIG. An example will be described as a third embodiment with reference to FIG.
  • the receiving antenna unit 60 of the third embodiment shown in FIG. 4 is different from the receiving antenna unit 4 of the first embodiment shown in FIG.
  • the relative positional relationship between the two unit antennas 5-1 and 5-2 in the antenna groups 61 to 64 is different. More specifically, the relative positional relationship between the two unit antennas 5-1 and 5-2 in the propagation direction is different.
  • the second unit antenna 5-2 is arranged at a predetermined distance in the propagation direction with respect to the first unit antenna 5-1. Yes.
  • the interval in the arrangement direction of the two unit antennas 5-1 and 5-2 that is, the antenna interval d1 is the same as in the first embodiment.
  • the group intervals of the antenna groups 61 to 64 are also the same as in the first embodiment. It is d0 like the form.
  • each of the antenna groups 61 to 64 is in a state where the first unit antenna 5-1 and the second unit antenna 5-2 are shifted from each other in the propagation direction. Has been placed. Therefore, as a whole, the receiving antenna unit 60 of the third embodiment is in a state where six unit antennas are arranged in a staggered manner in the arrangement direction.
  • each antenna group 61 to 64 is arranged in a state where the first unit antenna 5-1 and the second unit antenna 5-2 are shifted from each other in the propagation direction. This is basically the same as the first embodiment. Therefore, the processing content of the signal processing unit 10 is the same as that of the first embodiment.
  • the receiving antenna unit 60 of the third embodiment and the in-vehicle radar device 1 using the receiving antenna unit 60 can obtain the same effects as those of the first embodiment.
  • the receiving antenna unit 60 can detect the azimuth in the vertical direction because the unit antennas are arranged in a staggered pattern in the arrangement direction.
  • the receiving antenna unit 70 of the fourth embodiment shown in FIG. 5 includes four antenna groups, a first antenna group 71, a second antenna group 72, a third antenna group 73, and a fourth antenna group 74. These four antenna groups 71, 72, 73, 74 are arranged in a line in this order at the same group interval d0 in the arrangement direction.
  • the individual configurations of the antenna groups 71 to 74 are all the same. Therefore, a specific configuration of the first antenna group 71 will be described here, and description of the other antenna groups 72 to 74 will be omitted.
  • the first antenna group 71 includes three unit antennas, a first unit antenna 5-1, a second unit antenna 5-2, and a third unit antenna 5-3.
  • the configuration itself of each unit antenna is the same as the unit antenna described in the other embodiments.
  • the second unit antenna 5-2 is disposed at a position separated from the first unit antenna 5-1 by the first antenna interval d1 in the arrangement direction. Further, a third unit antenna 5-3 is disposed at a position separated from the second unit antenna 5-2 by the second antenna interval d2 in the arrangement direction.
  • the first antenna interval d1 and the second antenna interval d2 are different values. That is, the three unit antennas 5-1, 5-2, 5-3 in the first antenna group 71 are arranged at different intervals d1, d2 in the arrangement direction.
  • the three unit antennas 5-1, 5-2, and 5-3 have different positions in the propagation direction. That is, the second unit antenna 5-2 is arranged with a predetermined distance in the propagation direction with respect to the first unit antenna 5-1. Further, the third unit antenna 5-3 is arranged with a predetermined distance in the propagation direction with respect to the second unit antenna 5-2, and also in the propagation direction with respect to the first unit antenna 5-1. They are arranged at a predetermined distance in the opposite direction. Therefore, the first antenna group 71 is in a state where the three unit antennas 5-1, 5-2 and 5-3 are arranged in a zigzag pattern in the arrangement direction.
  • the adjacent group antenna intervals between adjacent antenna groups are all the same value, that is, the adjacent group antenna interval dx.
  • the adjacent group antenna interval dx is different from both the first antenna interval d1 and the second antenna interval d2.
  • the receiving antenna unit 4 of the fourth embodiment has three different types of unit antennas (12 antennas in the present embodiment), which are the first antenna interval d1, the second antenna interval d2, and the adjacent group antenna interval dx. Are arranged alternately at intervals.
  • the three unit antennas 5-1, 5-2, and 5-3 are connected to each other on the feeding end side. Therefore, from the first antenna group 71, the signals received by the three unit antennas 5-1, 5-2 and 5-3 are combined and output as the received signal Sr1 of the reception channel CH1.
  • the fourth antenna group 74 and the three unit antennas 5-1, 5-2, and 5-3 are connected to each other on the feeding end side. Therefore, from the fourth antenna group 74, the signals received by the three unit antennas 5-1, 5-2 and 5-3 are combined and output as the received signal Sr8 of the receiving channel CH8.
  • the signals received by the unit antennas 5-1, 5-2 and 5-3 are individually output as received signals Sri. That is, the signal received by the first unit antenna 5-1 is output as the reception signal Sr2 of the reception channel CH2, and the signal received by the second unit antenna 5-2 is output as the reception signal Sr3 of the reception channel CH3. The signal received by the third unit antenna 5-3 is output as the reception signal Sr4 of the reception channel CH4.
  • the signal received by the first unit antenna 5-1 is output as the reception signal Sr5 of the reception channel CH5
  • the signal received by the second unit antenna 5-2 is the reception channel CH6.
  • the signal output as the reception signal Sr6 and received by the third unit antenna 5-3 is output as the reception signal Sr7 of the reception channel CH7.
  • the contents of the target detection process in the signal processing unit 10 are also partially different from those in the first embodiment. That is, out of the long-distance narrow-angle detection process and the short-distance demotion detection process executed in the target detection process of the fourth embodiment, in the long-distance narrow-angle detection process, each of the four antenna groups 71 to 74 is performed.
  • the FFT processing result of the beat signal data Di is vector-synthesized to derive a group spectrum.
  • the FFT processing result of each beat signal data D2, D3, D4 corresponding to each reception channel CH2, CH3, CH4 from the second antenna group 72 is obtained.
  • Vector synthesis is performed to derive one group spectrum.
  • the FFT processing result of the beat signal data D5, D6, and D7 corresponding to the reception channels CH5, CH6, and CH7 from the third antenna group 73 is similarly obtained for the third antenna group 73.
  • Vector synthesis is performed to derive one group spectrum.
  • the signals received by the unit antennas 5-1, 5-2, and 5-3 for the first antenna group 71 and the fourth antenna group 74 are the same as in the first embodiment.
  • the signals are analog-synthesized and output as one received signal. Therefore, the signal processing method based on the received signal Sr1 from the first antenna group 71 and the signal processing method based on the received signal Sr8 from the fourth antenna group 74 are the same as in the first embodiment.
  • the signal processing unit 10 performs orientation analysis using a known MUSIC algorithm based on the group spectrum for each of the four antenna groups. Thereby, the long distance target in the long distance narrow angle range in front of the vehicle can be detected with high accuracy.
  • each reception channel from the second antenna group 72 and the third antenna group 73 is received.
  • a power spectrum is extracted for each beat signal data D2 to D7 based on the received signals Sr2 to Sr7 for each of CH2 to CH7. Based on the extracted power spectrum, the azimuth of the target within the short-distance wide-angle range is detected.
  • the receiving antenna unit 70 of the fourth embodiment and the in-vehicle radar device 1 using the receiving antenna unit 60 can obtain the same effects as those of the first embodiment.
  • the group number G may be 2 or 5 or more.
  • the number P of internal unit antennas may be four or more.
  • the antenna interval between adjacent unit antennas in the antenna group is equal. Or two or more different intervals.
  • the fourth embodiment is an example of a configuration in which a plurality of unit antennas in an antenna group are arranged at different intervals.
  • one antenna group of the receiving antenna unit in each of the first to fourth embodiments has three or more unit antennas, if a plurality of unit antennas in the antenna group are arranged at equal intervals, they are adjacent to each other.
  • the group antenna interval dx needs to be different from the antenna interval of the unit antennas.
  • the plurality of unit antennas in the antenna group are two or more different antennas.
  • the adjacent group antenna interval dx may be the same value as any of the two or more types of antenna intervals.
  • the third embodiment, and the fourth embodiment among the plurality of antenna groups, two antenna groups on both ends in the arrangement direction are respectively connected to the plurality of unit antennas of the antenna group. However, it is not essential to connect the power supply end sides to each other.
  • the unit antennas are connected to each other without connecting the feeding points of the unit antennas to each other. It is good also as a structure which outputs a received signal separately for every.
  • the unit antennas are connected to each other at the feeding point side, and signals received by the unit antennas are received. May be output as a single received signal by analog synthesis.
  • the shape and configuration of the unit antenna are not limited to the shapes and configurations shown in the above embodiments. That is, the number and shape of the radiating elements connected to the feeder line 30 may be determined as appropriate. Further, the connection position and connection pitch of the radiating elements with respect to the feed line 30 (that is, the interval in the propagation direction) may be determined as appropriate. Moreover, it is not essential that the feed line 30 is a straight line, and it is sufficient if it is formed so as to extend in the propagation direction as a whole. That is, for example, it may have a bent portion in a part or may have a wave shape.
  • the specific configuration and detection method for detecting the azimuth of the target based on the received signals Sr1 to SrN for each of the channels CH1 to CHN by the signal processing unit 10 are the configuration and the detection method described in the above embodiment. It is not limited to. As a result, based on the received signals Sr1 to SrN, it is possible to appropriately detect targets in the long-distance narrow-angle range and targets in the short-distance wide-angle range, and maintain angular performance particularly in the short-distance wide-angle range.
  • the signal processing unit 10 may employ other circuit configurations or other detection methods as long as a detection result in which grating ghost is suppressed can be obtained.
  • each of the above embodiments may be distributed as a plurality of constituent elements, or the functions of a plurality of constituent elements may be integrated into one constituent element. Moreover, you may abbreviate
  • at least a part of the configuration of each of the above embodiments may be added to or replaced with the configuration of the other embodiments.
  • all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.
  • SYMBOLS 1 Vehicle-mounted radar apparatus, 2 ... Transmitter, 3 ... Transmitting antenna, 4, 50, 60, 70 ... Reception antenna part, 5-1, 5-2, 5-3 ... Unit antenna, 6 ... Receiver, 8 ... AD converter, 10 ... signal processor, 12 ... high frequency oscillator, 14 ... distributor, 16 ... CPU, 17 ... memory, 21 ... mixer, 22 ... amplifier, 24 ... AD converter, 30 ... feed line, 30a ... feed End, 31 ... first radiating element, 32 ... second radiating element, 41-44, 51-53, 61-64, 71-74 ... antenna group.

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  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Computer Security & Cryptography (AREA)
  • Radar Systems Or Details Thereof (AREA)
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  • Details Of Aerials (AREA)
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PCT/JP2016/079609 2015-10-07 2016-10-05 アンテナ装置及び物標検出装置 WO2017061462A1 (ja)

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CN108140956A (zh) 2018-06-08
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